Of course there is. Scientists have already identified a handful of Goldilocks planets with our limited technology so imagine how many there out there in our galaxy alone.
Have they visited us? Maybe. Two thoughts on that. One, if they are benevolent, I don't know that they'd go searching the stars for less advanced civilizations unless by exception. For instance, in one of the Star Track movies, the Vulcans took notice of us when we made a warp jump. They didn't want anything from us so they weren't willing to expend much effort looking for us.
And two, if the advanced society needed something from us like resources or food, they would look harder than by exception. As we know, the collision of two civilizations where one is far more advanced than the other one isn't necessarily a good thing for the less advanced. If we've been visited, maybe we're a ranch. Remember the Twilight Zone episode "How to Serve Man"?